From 3d33c1d09acf9e3a856724ef6f5cc94d6e216933 Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 03:08:49 -0400
Subject: [PATCH] ur10 edge
---
.../assembly/app.js | 75 +++++++-
.../assembly/python-urx/setup.json | 56 ++----
.../assembly/python-urx/ur10test.py | 173 +++++++++++-------
3 files changed, 185 insertions(+), 119 deletions(-)
diff --git a/01_Code/physical_computing_interface/assembly/app.js b/01_Code/physical_computing_interface/assembly/app.js
index c518f46..7b9a4c7 100644
--- a/01_Code/physical_computing_interface/assembly/app.js
+++ b/01_Code/physical_computing_interface/assembly/app.js
@@ -26,7 +26,6 @@ assembler.run();
//////////////////////////////python-urx//////////////////
-
var integratedSetup={
ur10Setup:{
parameters:{
@@ -55,6 +54,14 @@ var integratedSetup={
ry:1.3498035669326782,
rz:-1.5769990126239222,
},
+ edge90PickupRobotHome:{
+ x: 0.14550010859966278,
+ y: -1.2639334837542933,
+ z: 2.2356719970703125,
+ rx: -0.966320816670553,
+ ry: 0.1400364190340042,
+ rz: -1.5755623022662562,
+ },
programmingRelativeDistance:{
x: -0.203,
y: 0.0127,
@@ -72,9 +79,9 @@ var integratedSetup={
rz:0
},
edgeRelativeDistance:{
- x: 0,
- y: 0,
- z: 0.04,
+ x: -0.2833,
+ y: -0.008,
+ z: 0.038,
rx:0,
ry:0,
rz:0
@@ -91,6 +98,63 @@ var integratedSetup={
nodes:[ //relative to the pickup
],
edges:[ //relative to the pickup
+ { //s1
+ x: 0.0075,
+ y: -0.2833,
+ z: 0.038,
+ rx:0,
+ ry:0,
+ rz:0,
+ },
+ { //s2
+ x: 0.0075,
+ y: -0.3143,
+ z: 0.038,
+ rx:0,
+ ry:0,
+ rz:0,
+ },
+ { //s3
+ x: 0,
+ y: 0,
+ z: 0.03,
+ rx:0,
+ ry:0,
+ rz:Math.PI,
+ },
+ { //s4
+ x: 0,
+ y: -0.031,
+ z: 0.03,
+ rx:0,
+ ry:0,
+ rz:Math.PI,
+ },
+ { //s5
+ x: 0,
+ y: -0.062,
+ z: 0.03,
+ rx:0,
+ ry:0,
+ rz:Math.PI,
+ },
+ { //s6
+ x: -0.0235,
+ y: -0.2833,
+ z: 0.038,
+ rx:0,
+ ry:0,
+ rz:0,
+ },
+ { //s7
+ x: -0.0235,
+ y: -0.3143,
+ z: 0.038,
+ rx:0,
+ ry:0,
+ rz:0,
+ },
+
],
},
DEMSetup:{
@@ -126,6 +190,9 @@ document.addEventListener('addNode', function (e) {
function assembleNode(e,integratedSetup){
var ur10Setup=integratedSetup.ur10Setup;
+ ur10Setup.nodes=[];
+ ur10Setup.edges=[];
+
var x=e.detail.x;
var y=e.detail.y;
var z=e.detail.z;
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/setup.json b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
index 90503d1..3d426bb 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/setup.json
+++ b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
@@ -1,7 +1,7 @@
{
"setup": {
"parameters": {
- "run": false,
+ "run": true,
"pythonFileName": "ur10test",
"ipNode": "192.168.1.52",
"ipEdge": "192.168.1.53",
@@ -26,6 +26,14 @@
"ry": 1.3498035669326782,
"rz": -1.5769990126239222
},
+ "edge90PickupRobotHome": {
+ "x": 0.14550010859966278,
+ "y": -1.2639334837542933,
+ "z": 2.2356719970703125,
+ "rx": -0.966320816670553,
+ "ry": 0.1400364190340042,
+ "rz": -1.5755623022662562
+ },
"programmingRelativeDistance": {
"x": -0.203,
"y": 0.0127,
@@ -43,9 +51,9 @@
"rz": 0
},
"edgeRelativeDistance": {
- "x": 0,
- "y": 0,
- "z": 0.04,
+ "x": -0.2833,
+ "y": -0.008,
+ "z": 0.038,
"rx": 0,
"ry": 0,
"rz": 0
@@ -58,14 +66,6 @@
"sleep1": 0.1
},
"nodes": [
- {
- "y": 0,
- "x": 0,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 0
- },
{
"y": 0,
"x": 1,
@@ -76,38 +76,6 @@
}
],
"edges": [
- {
- "y": 0,
- "x": 0.5,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 0
- },
- {
- "y": -0.5,
- "x": 0,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 1.5707963267948966
- },
- {
- "y": 0,
- "x": -0.5,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 0
- },
- {
- "y": 0.5,
- "x": 0,
- "z": 0,
- "rx": 0,
- "ry": 0,
- "rz": 1.5707963267948966
- },
{
"y": 0,
"x": 1.5,
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
index 8f0241d..0dc7288 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -25,26 +25,25 @@ setup=data["setup"]
globalSetup=data["setup"]["parameters"]
reference_roy=globalSetup["nodePickupRobotHome"]
reference_siegfried=globalSetup["edgePickupRobotHome"]
+strut90_siegfried_j=globalSetup["edge90PickupRobotHome"]
latticePitch=globalSetup["latticePitch"]
sleepTime=globalSetup["sleep"]
sleepTime1=globalSetup["sleep1"]
-# # reference locations are 40 mm above pickup points
-# reference_roy_j = (reference_roy["x"], reference_roy["y"], reference_roy["z"], reference_roy["rx"], reference_roy["ry"], reference_roy["rz"])
-# reference_siegfried_j = (reference_siegfried["x"], reference_siegfried["y"], reference_siegfried["z"], reference_siegfried["rx"], reference_siegfried["ry"], reference_siegfried["rz"])
+# reference locations are 40 mm above pickup points
+reference_roy_j = (reference_roy["x"], reference_roy["y"], reference_roy["z"], reference_roy["rx"], reference_roy["ry"], reference_roy["rz"])
+reference_siegfried_j = (reference_siegfried["x"], reference_siegfried["y"], reference_siegfried["z"], reference_siegfried["rx"], reference_siegfried["ry"], reference_siegfried["rz"])
+strut90_siegfried_j = (strut90_siegfried_j["x"], strut90_siegfried_j["y"], strut90_siegfried_j["z"], strut90_siegfried_j["rx"], strut90_siegfried_j["ry"], strut90_siegfried_j["rz"])
-# roy = urx.Robot(globalSetup["ipNode"])
-# roy.set_tcp((0, 0, 0.1, 0, 0, 0))
-# roy.set_payload(2, (0, 0, 0.1))
-# time.sleep(sleepTime) #leave some time to robot to process the setup commands
-
-
-# siegfried = urx.Robot(globalSetup["ipEdge"])
-# siegfried.set_tcp((0, 0, 0.1, 0, 0, 0))
-# siegfried.set_payload(2, (0, 0, 0.1))
-# time.sleep(sleepTime) #leave some time to robot to process the setup commands
+roy = urx.Robot("192.168.1.52")
+roy.set_tcp((0, 0, 0.1, 0, 0, 0))
+roy.set_payload(2, (0, 0, 0.1))
+siegfried = urx.Robot("192.168.1.53")
+siegfried.set_tcp((0, 0, 0.1, 0, 0, 0))
+siegfried.set_payload(2, (0, 0, 0.1))
+time.sleep(0.2) #leave some time to robot to process the setup commands
# placement location reference (top view)
@@ -59,47 +58,47 @@ for node in setup["nodes"]:
print("Build Node:")
print(node)
- # v = globalSetup["v"]
- # a = globalSetup["a"]
-
- # # move to reference locations and get current transformation matrices
- # roy.movej(reference_roy_j, acc = a, vel = v)
- # roy_trans = roy.get_pose()
- # time.sleep(sleepTime)
-
- # v = globalSetup["v1"]
- # a = globalSetup["a1"]
-
- # # move to pickup locations from reference
- # roy_trans.pos.z += globalSetup["nodeRelativeDistance"]["z"]
- # roy.set_pose(roy_trans, acc = a, vel = v)
- # time.sleep(sleepTime)
-
-
- # # close and open grippers
- # roy.send_program('set_tool_digital_out(0, True)') #close node tool
- # time.sleep(sleepTime1)
- # roy.send_program('set_tool_digital_out(0, False)') #open node tool
- # time.sleep(sleepTime1)
-
- # # move roy (nodes) to programming location from reference, drops to program, then lifts to reference height
- # roy_trans.pos.x += globalSetup["programmingRelativeDistance"]["x"]
- # roy_trans.pos.y += globalSetup["programmingRelativeDistance"]["y"]
- # roy.set_pose(roy_trans, acc = a, vel = v)
- # roy_trans.pos.z -= globalSetup["programmingRelativeDistance"]["z"]
- # roy.set_pose(roy_trans, acc = a, vel = v)
- # time.sleep(1) # programming time!
- # roy_trans.pos.z += globalSetup["programmingRelativeDistance"]["z"]
- # roy.set_pose(roy_trans, acc = a, vel = v)
-
- # # move roy (nodes) to node from reference location
- # roy_trans.pos.x += ((globalSetup["nodeRelativeDistance"]["x"])+node["x"]*latticePitch["x"])
- # roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"])+node["y"]*latticePitch["y"])
- # roy.set_pose(roy_trans, acc = a, vel = v)
- # roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
- # roy.set_pose(roy_trans, acc = a, vel = v)
- # roy_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
- # time.sleep(sleepTime)
+ v = globalSetup["v"]
+ a = globalSetup["a"]
+
+ # move to reference locations and get current transformation matrices
+ roy.movej(reference_roy_j, acc = a, vel = v)
+ roy_trans = roy.get_pose()
+ time.sleep(sleepTime)
+
+ v = globalSetup["v1"]
+ a = globalSetup["a1"]
+
+ # move to pickup locations from reference
+ roy_trans.pos.z += globalSetup["nodeRelativeDistance"]["z"]
+ roy.set_pose(roy_trans, acc = a, vel = v)
+ time.sleep(sleepTime)
+
+
+ # close and open grippers
+ roy.send_program('set_tool_digital_out(0, True)') #close node tool
+ time.sleep(sleepTime1)
+ roy.send_program('set_tool_digital_out(0, False)') #open node tool
+ time.sleep(sleepTime1)
+
+ # move roy (nodes) to programming location from reference, drops to program, then lifts to reference height
+ roy_trans.pos.x += globalSetup["programmingRelativeDistance"]["x"]
+ roy_trans.pos.y += globalSetup["programmingRelativeDistance"]["y"]
+ roy.set_pose(roy_trans, acc = a, vel = v)
+ roy_trans.pos.z -= globalSetup["programmingRelativeDistance"]["z"]
+ roy.set_pose(roy_trans, acc = a, vel = v)
+ time.sleep(1) # programming time!
+ roy_trans.pos.z += globalSetup["programmingRelativeDistance"]["z"]
+ roy.set_pose(roy_trans, acc = a, vel = v)
+
+ # move roy (nodes) to node from reference location
+ roy_trans.pos.x += ((globalSetup["nodeRelativeDistance"]["x"])+node["x"]*latticePitch["x"])
+ roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"])+node["y"]*latticePitch["y"])
+ roy.set_pose(roy_trans, acc = a, vel = v)
+ roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ roy.set_pose(roy_trans, acc = a, vel = v)
+ roy_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ time.sleep(sleepTime)
@@ -111,26 +110,58 @@ for edge in setup["edges"]:
print("Build Edge:")
print(edge)
- # v = globalSetup["v"]
- # a = globalSetup["a"]
+ v = globalSetup["v"]
+ a = globalSetup["a"]
- # # move to reference locations and get current transformation matrices
- # siegfried.movej(reference_siegfried_j, acc = a, vel = v)
- # siegfried_trans = siegfried.get_pose()
- # time.sleep(sleepTime)
+ # move to reference locations and get current transformation matrices
+ siegfried.movej(reference_siegfried_j, acc = a, vel = v)
+ siegfried_trans = siegfried.get_pose()
+ time.sleep(sleepTime)
- # # move to pickup locations from reference
- # siegfried_trans.pos.z += globalSetup["edgeRelativeDistance"]["z"]
- # siegfried.set_pose(siegfried_trans, acc = a, vel = v)
- # time.sleep(sleepTime)
+ v = globalSetup["v1"]
+ a = globalSetup["a1"]
- # # close and open grippers
- # siegfried.send_program('set_tool_digital_out(0, True)') #close strut tool
- # time.sleep(sleepTime1)
- # siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
- # time.sleep(sleepTime1)
+ # move to pickup locations from reference
+ siegfried_trans.pos.z += globalSetup["edgeRelativeDistance"]["z"]
+ siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+ time.sleep(sleepTime)
+ # close and open grippers
+ siegfried.send_program('set_tool_digital_out(0, True)') #close strut tool
+ time.sleep(sleepTime1)
+ siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
+ time.sleep(sleepTime1)
+
+ # placement location reference (top view)
+ # [S1] [S2]
+ #
+ #[S3] [N1] [S4] [N2] [S5]
+ #
+ # [S6] [S7]
-# print ("roy's current pose: ", roy.getj())
-# print ("siegfried's current pose: ", siegfried.getj())
+
+
+ #move siegfried (struts) to S1, then to build level 0.5, from reference location
+ if node["rx"]<0.1 :
+ siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["y"])+node["y"]*latticePitch["y"])
+ siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["x"])+node["x"]*latticePitch["x"])
+ siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+ siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+ siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ else:
+ #move siegfried (struts) to S4, then to build level 0.5, from reference location
+ #uses movej for the rotation and to get close to the build plate, to avoid sketchiness
+ siegfried.movej(strut90_siegfried_j, acc = a, vel = v)
+ siegfried_trans = siegfried.get_pose()
+ siegfried_trans.pos.y -= latticePitch["y"]*(node["y"]-0.5)
+ siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+ siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-0.008)
+ siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+ #use movej to go back to origin point after moving back up
+ siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])
+
+
+print ("roy's current pose: ", roy.getj())
+print ("siegfried's current pose: ", siegfried.getj())
--
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